OpenRaiser/Intern-Atlas huggingface dataset:
Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation
Venue: arXiv cs.RO 2024
Year: 2024

Robotic manipulation of fresh fruits and vegetables, including the grasping of multiple loose items, has a strong industrial need but it still is a challenging task for robotic manipulation. This paper outlines the distinctive manipulation strategies used by humans to pick loose fruits and vegetables with the aim to better adopt them for robotic manipulation of diverse items. In this work we present a first version of a robotic setup designed to pick different single or multiple fresh items, featuring multi-fingered compliant robotic gripper. We analyse human grasping strategies from the perspective of industrial Key Performance Indicators (KPIs) used in the logistic sector. The robotic system was validated using the same KPIs, as well as taking into account human performance and strategies. This paper lays the foundation for future development of the robotic demonstrator for fresh fruit and vegetable intelligent manipulation, and outlines the need for generic approaches to handle the complexity of the task.
High-Fidelity Document Stain Removal via A Large-Scale Real-World Dataset and A Memory-Augmented Transformer
Venue: arXiv cs.CV 2024
Year: 2024

Document images are often degraded by various stains, significantly impacting their readability and hindering downstream applications such as document digitization and analysis. The absence of a comprehensive stained document dataset has limited the effectiveness of existing document enhancement methods in removing stains while preserving fine-grained details. To address this challenge, we construct StainDoc, the first large-scale, high-resolution ($2145\times2245$) dataset specifically designed for document stain removal. StainDoc comprises over 5,000 pairs of stained and clean document images across multiple scenes. This dataset encompasses a diverse range of stain types, severities, and document backgrounds, facilitating robust training and evaluation of document stain removal algorithms. Furthermore, we propose StainRestorer, a Transformer-based document stain removal approach. StainRestorer employs a memory-augmented Transformer architecture that captures hierarchical stain representations at part, instance, and semantic levels via the DocMemory module. The Stain Removal Transformer (SRTransformer) leverages these feature representations through a dual attention mechanism: an enhanced spatial attention with an expanded receptive field, and a channel attention captures channel-wise feature importance. This combination enables precise stain removal while preserving document content integrity. Extensive experiments demonstrate StainRestorer's superior performance over state-of-the-art methods on the StainDoc dataset and its variants StainDoc\_Mark and StainDoc\_Seal, establishing a new benchmark for document stain removal. Our work highlights the potential of memory-augmented Transformers for this task and contributes a valuable dataset to advance future research.
BIS: NL2SQL Service Evaluation Benchmark for Business Intelligence Scenarios
Venue: arXiv cs.AI 2024
Year: 2024

NL2SQL (Natural Language to Structured Query Language) transformation has seen wide adoption in Business Intelligence (BI) applications in recent years. However, existing NL2SQL benchmarks are not suitable for production BI scenarios, as they are not designed for common business intelligence questions. To address this gap, we have developed a new benchmark focused on typical NL questions in industrial BI scenarios. We discuss the challenges of constructing a BI-focused benchmark and the shortcomings of existing benchmarks. Additionally, we introduce question categories in our benchmark that reflect common BI inquiries. Lastly, we propose two novel semantic similarity evaluation metrics for assessing NL2SQL capabilities in BI applications and services.
A Study of Secure Algorithms for Vertical Federated Learning: Take Secure Logistic Regression as an Example
Venue: arXiv cs.CR 2024
Year: 2024

After entering the era of big data, more and more companies build services with machine learning techniques. However, it is costly for companies to collect data and extract helpful handcraft features on their own. Although it is a way to combine with other companies' data for boosting the model's performance, this approach may be prohibited by laws. In other words, finding the balance between sharing data with others and keeping data from privacy leakage is a crucial topic worthy of close attention. This paper focuses on distributed data and conducts secure model training tasks on a vertical federated learning scheme. Here, secure implies that the whole process is executed in the encrypted domain. Therefore, the privacy concern is released.
Private Synthetic Text Generation with Diffusion Models
Venue: arXiv cs.CL 2024
Year: 2024

How capable are diffusion models of generating synthetics texts? Recent research shows their strengths, with performance reaching that of auto-regressive LLMs. But are they also good in generating synthetic data if the training was under differential privacy? Here the evidence is missing, yet the promises from private image generation look strong. In this paper we address this open question by extensive experiments. At the same time, we critically assess (and reimplement) previous works on synthetic private text generation with LLMs and reveal some unmet assumptions that might have led to violating the differential privacy guarantees. Our results partly contradict previous non-private findings and show that fully open-source LLMs outperform diffusion models in the privacy regime. Our complete source codes, datasets, and experimental setup is publicly available to foster future research.
PDSR: Efficient UAV Deployment for Swift and Accurate Post-Disaster Search and Rescue
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a comprehensive framework for Post-Disaster Search and Rescue (PDSR), aiming to optimize search and rescue operations leveraging Unmanned Aerial Vehicles (UAVs). The primary goal is to improve the precision and availability of sensing capabilities, particularly in various catastrophic scenarios. Central to this concept is the rapid deployment of UAV swarms equipped with diverse sensing, communication, and intelligence capabilities, functioning as an integrated system that incorporates multiple technologies and approaches for efficient detection of individuals buried beneath rubble or debris following a disaster. Within this framework, we propose architectural solution and address associated challenges to ensure optimal performance in real-world disaster scenarios. The proposed framework aims to achieve complete coverage of damaged areas significantly faster than traditional methods using a multi-tier swarm architecture. Furthermore, integrating multi-modal sensing data with machine learning for data fusion could enhance detection accuracy, ensuring precise identification of survivors.
Exploring the Potential of Multi-modal Sensing Framework for Forest Ecology
Venue: arXiv cs.RO 2024
Year: 2024

Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies. Accessibility continues to pose a challenge for biologists collecting data in forest environments, often requiring them to invest significant time and energy in climbing trees to place sensors. This operation not only consumes resources but also exposes them to danger. Efforts in robotics have been directed towards accessing the tree canopy using robots. A swarm of drones has showcased autonomous navigation through the canopy, maneuvering with agility and evading tree collisions, all aimed at mapping the area and collecting data. However, relying solely on free-flying drones has proven insufficient for data collection. Flying drones within the canopy generates loud noise, disturbing animals and potentially corrupting the data. Additionally, commercial drones often have limited autonomy for dexterous tasks where aerial physical interaction could be required, further complicating data acquisition efforts. Aerial deployed sensor placement methods such as bio-gliders and sensor shooting have proven effective for data collection within the lower canopy. However, these methods face challenges related to retrieving the data and sensors, often necessitating human intervention.
CORAL: Benchmarking Multi-turn Conversational Retrieval-Augmentation Generation
Venue: arXiv cs.IR 2024
Year: 2024

Retrieval-Augmented Generation (RAG) has become a powerful paradigm for enhancing large language models (LLMs) through external knowledge retrieval. Despite its widespread attention, existing academic research predominantly focuses on single-turn RAG, leaving a significant gap in addressing the complexities of multi-turn conversations found in real-world applications. To bridge this gap, we introduce CORAL, a large-scale benchmark designed to assess RAG systems in realistic multi-turn conversational settings. CORAL includes diverse information-seeking conversations automatically derived from Wikipedia and tackles key challenges such as open-domain coverage, knowledge intensity, free-form responses, and topic shifts. It supports three core tasks of conversational RAG: passage retrieval, response generation, and citation labeling. We propose a unified framework to standardize various conversational RAG methods and conduct a comprehensive evaluation of these methods on CORAL, demonstrating substantial opportunities for improving existing approaches.
NASM: Neural Anisotropic Surface Meshing
Venue: arXiv cs.CV 2024
Year: 2024

This paper introduces a new learning-based method, NASM, for anisotropic surface meshing. Our key idea is to propose a graph neural network to embed an input mesh into a high-dimensional (high-d) Euclidean embedding space to preserve curvature-based anisotropic metric by using a dot product loss between high-d edge vectors. This can dramatically reduce the computational time and increase the scalability. Then, we propose a novel feature-sensitive remeshing on the generated high-d embedding to automatically capture sharp geometric features. We define a high-d normal metric, and then derive an automatic differentiation on a high-d centroidal Voronoi tessellation (CVT) optimization with the normal metric to simultaneously preserve geometric features and curvature anisotropy that exhibit in the original 3D shapes. To our knowledge, this is the first time that a deep learning framework and a large dataset are proposed to construct a high-d Euclidean embedding space for 3D anisotropic surface meshing. Experimental results are evaluated and compared with the state-of-the-art in anisotropic surface meshing on a large number of surface models from Thingi10K dataset as well as tested on extensive unseen 3D shapes from Multi-Garment Network dataset and FAUST human dataset.
LGU-SLAM: Learnable Gaussian Uncertainty Matching with Deformable Correlation Sampling for Deep Visual SLAM
Venue: arXiv cs.CV 2024
Year: 2024

Deep visual Simultaneous Localization and Mapping (SLAM) techniques, e.g., DROID, have made significant advancements by leveraging deep visual odometry on dense flow fields. In general, they heavily rely on global visual similarity matching. However, the ambiguous similarity interference in uncertain regions could often lead to excessive noise in correspondences, ultimately misleading SLAM in geometric modeling. To address this issue, we propose a Learnable Gaussian Uncertainty (LGU) matching. It mainly focuses on precise correspondence construction. In our scheme, a learnable 2D Gaussian uncertainty model is designed to associate matching-frame pairs. It could generate input-dependent Gaussian distributions for each correspondence map. Additionally, a multi-scale deformable correlation sampling strategy is devised to adaptively fine-tune the sampling of each direction by a priori look-up ranges, enabling reliable correlation construction. Furthermore, a KAN-bias GRU component is adopted to improve a temporal iterative enhancement for accomplishing sophisticated spatio-temporal modeling with limited parameters. The extensive experiments on real-world and synthetic datasets are conducted to validate the effectiveness and superiority of our method.
EMOTION: Expressive Motion Sequence Generation for Humanoid Robots with In-Context Learning
Venue: arXiv cs.RO 2024
Year: 2024

This paper introduces a framework, called EMOTION, for generating expressive motion sequences in humanoid robots, enhancing their ability to engage in humanlike non-verbal communication. Non-verbal cues such as facial expressions, gestures, and body movements play a crucial role in effective interpersonal interactions. Despite the advancements in robotic behaviors, existing methods often fall short in mimicking the diversity and subtlety of human non-verbal communication. To address this gap, our approach leverages the in-context learning capability of large language models (LLMs) to dynamically generate socially appropriate gesture motion sequences for human-robot interaction. We use this framework to generate 10 different expressive gestures and conduct online user studies comparing the naturalness and understandability of the motions generated by EMOTION and its human-feedback version, EMOTION++, against those by human operators. The results demonstrate that our approach either matches or surpasses human performance in generating understandable and natural robot motions under certain scenarios. We also provide design implications for future research to consider a set of variables when generating expressive robotic gestures.
CRAFT@Large: Building Community Through Co-Making
Venue: arXiv cs.HC 2024
Year: 2024

CRAFT@Large (C@L) is an initiative launched by the MakerLAB at Cornell Tech to create an inclusive environment for the intercultural and intergenerational exchange of ideas through making. With our approach, we challenge the traditional definition of community outreach performed by academic makerspaces. Existing academic makerspaces often perform community engagement by only offering hourly, one-time workshops or by having community members provide a problem that is then used by students as a project assignment. These approaches position community members as occasional visitors and non-equal contributors, which not only conflict with the core values of co-creation but also limit the makerspaces' impact on connecting the universities and the communities. C@L explored an alternative approach in which we invited community members as long-term and equal co-makers into the academic makerspaces. In this article, we showcase two sets of collaborations that illustrate the continuity of people through co-making. We present how academic makerspaces can function as a hub that connects community members and partner organizations with the campus community in a long-term relationship.
SlowFast-VGen: Slow-Fast Learning for Action-Driven Long Video Generation
Venue: arXiv cs.CV 2024
Year: 2024

Human beings are endowed with a complementary learning system, which bridges the slow learning of general world dynamics with fast storage of episodic memory from a new experience. Previous video generation models, however, primarily focus on slow learning by pre-training on vast amounts of data, overlooking the fast learning phase crucial for episodic memory storage. This oversight leads to inconsistencies across temporally distant frames when generating longer videos, as these frames fall beyond the model's context window. To this end, we introduce SlowFast-VGen, a novel dual-speed learning system for action-driven long video generation. Our approach incorporates a masked conditional video diffusion model for the slow learning of world dynamics, alongside an inference-time fast learning strategy based on a temporal LoRA module. Specifically, the fast learning process updates its temporal LoRA parameters based on local inputs and outputs, thereby efficiently storing episodic memory in its parameters. We further propose a slow-fast learning loop algorithm that seamlessly integrates the inner fast learning loop into the outer slow learning loop, enabling the recall of prior multi-episode experiences for context-aware skill learning. To facilitate the slow learning of an approximate world model, we collect a large-scale dataset of 200k videos with language action annotations, covering a wide range of scenarios. Extensive experiments show that SlowFast-VGen outperforms baselines across various metrics for action-driven video generation, achieving an FVD score of 514 compared to 782, and maintaining consistency in longer videos, with an average of 0.37 scene cuts versus 0.89. The slow-fast learning loop algorithm significantly enhances performances on long-horizon planning tasks as well. Project Website: https://slowfast-vgen.github.io
Trajectory Prediction for Autonomous Driving using Agent-Interaction Graph Embedding
Venue: arXiv cs.RO 2024
Year: 2024

Trajectory prediction module in an autonomous driving system is crucial for the decision-making and safety of the autonomous agent car and its surroundings. This work presents a novel scheme called AiGem (Agent-Interaction Graph Embedding) to predict traffic vehicle trajectories around the autonomous car. AiGem tackles this problem in four steps. First, AiGem formulates the historical traffic interaction with the autonomous agent as a graph in two steps: (1) at each time step of the history frames, agent-interactions are captured using spatial edges between the agents (nodes of the graph), and then, (2) connects the spatial graphs in chronological order using temporal edges. Then, AiGem applies a depthwise graph encoder network on the spatial-temporal graph to generate graph embedding, i.e., embedding of all the nodes in the graph. Next, a sequential Gated Recurrent Unit decoder network uses the embedding of the current timestamp to get the decoded states. Finally, an output network comprising a Multilayer Perceptron is used to predict the trajectories utilizing the decoded states as its inputs. Results show that AiGem outperforms the state-of-the-art deep learning algorithms for longer prediction horizons.
Demonstrating Linked Battery Data To Accelerate Knowledge Flow in Battery Science
Venue: arXiv cs.IR 2024
Year: 2024

Batteries are pivotal for transitioning to a climate-friendly future, leading to a surge in battery research. Scopus (Elsevier) lists 14,388 papers that mention "lithium-ion battery" in 2023 alone, making it infeasible for individuals to keep up. This paper discusses strategies based on structured, semantic, and linked data to manage this information overload. Structured data follows a predefined, machine-readable format; semantic data includes metadata for context; linked data references other semantic data, forming a web of interconnected information. We use a battery-related ontology, BattINFO to standardise terms and enable automated data extraction and analysis. Our methodology integrates full-text search and machine-readable data, enhancing data retrieval and battery testing. We aim to unify commercial cell information and develop tools for the battery community such as manufacturer-independent cycling procedure descriptions and external memory for Large Language Models. Although only a first step, this approach significantly accelerates battery research and digitalizes battery testing, inviting community participation for continuous improvement. We provide the structured data and the tools to access them as open source.
Systematically Analyzing Prompt Injection Vulnerabilities in Diverse LLM Architectures
Venue: arXiv cs.CR 2024
Year: 2024

This study systematically analyzes the vulnerability of 36 large language models (LLMs) to various prompt injection attacks, a technique that leverages carefully crafted prompts to elicit malicious LLM behavior. Across 144 prompt injection tests, we observed a strong correlation between model parameters and vulnerability, with statistical analyses, such as logistic regression and random forest feature analysis, indicating that parameter size and architecture significantly influence susceptibility. Results revealed that 56 percent of tests led to successful prompt injections, emphasizing widespread vulnerability across various parameter sizes, with clustering analysis identifying distinct vulnerability profiles associated with specific model configurations. Additionally, our analysis uncovered correlations between certain prompt injection techniques, suggesting potential overlaps in vulnerabilities. These findings underscore the urgent need for robust, multi-layered defenses in LLMs deployed across critical infrastructure and sensitive industries. Successful prompt injection attacks could result in severe consequences, including data breaches, unauthorized access, or misinformation. Future research should explore multilingual and multi-step defenses alongside adaptive mitigation strategies to strengthen LLM security in diverse, real-world environments.
Sequential Order-Robust Mamba for Time Series Forecasting
Venue: arXiv cs.LG 2024
Year: 2024

Mamba has recently emerged as a promising alternative to Transformers, offering near-linear complexity in processing sequential data. However, while channels in time series (TS) data have no specific order in general, recent studies have adopted Mamba to capture channel dependencies (CD) in TS, introducing a sequential order bias. To address this issue, we propose SOR-Mamba, a TS forecasting method that 1) incorporates a regularization strategy to minimize the discrepancy between two embedding vectors generated from data with reversed channel orders, thereby enhancing robustness to channel order, and 2) eliminates the 1D-convolution originally designed to capture local information in sequential data. Furthermore, we introduce channel correlation modeling (CCM), a pretraining task aimed at preserving correlations between channels from the data space to the latent space in order to enhance the ability to capture CD. Extensive experiments demonstrate the efficacy of the proposed method across standard and transfer learning scenarios. Code is available at https://github.com/seunghan96/SOR-Mamba.
How Do Developers Use Type Inference: An Exploratory Study in Kotlin
Venue: arXiv cs.SE 2024
Year: 2024

Statically typed languages offer numerous benefits to developers, such as improved code quality and reduced runtime errors, but they also require the overhead of manual type annotations. To mitigate this burden, language designers have started incorporating support for type inference, where the compiler infers the type of a variable based on its declaration/usage context. As a result, type annotations are optional in certain contexts, and developers are empowered to use type inference in these situations. However, the usage patterns of type annotations in languages that support type inference are unclear. These patterns can help provide evidence for further research in program comprehension, in language design, and for education. We conduct a large-scale empirical study using Boa, a tool for mining software repositories, to investigate when and where developers use type inference in 498,963 Kotlin projects. We choose Kotlin because it is the default language for Android development, one of the largest software marketplaces. Additionally, Kotlin has supported declaration-site optional type annotations from its initial release. Our findings reveal that type inference is frequently employed for local variables and variables initialized with method calls declared outside the file are more likely to use type inference. These results have significant implications for language designers, providing valuable insight into where to allow type inference and how to optimize type inference algorithms for maximum efficiency, ultimately improving the development experience for developers.